Beckhoff EP9300-0022, Руководство пользователя

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Commissioning and configuration
EP9300-0022 35 Version: 2.3
5.6 CoE data access via Profinet
Description
CoE means C an o ver E therCAT. It enables access to all parameters of an EtherCAT device. The CoE data
model is based on the principles of CANopen and uses index and subindex for reading from and writing to
parameters, if the corresponding access is enabled.
Further information can be found here: System Documentation
Task
Parameters of an EtherCAT device can generally be set and parameterized via the parameters of the
GSDML file. However, in some applications it is necessary to change certain parameters at runtime or to
carry out optimizations during operation.
Solution
The CoE data are sent via acyclic PROFINET services (PROFINET index 0x200F). The position of the
EtherCAT device is specified via the slot number. The CoE data are then entered in the record data. During
reading they consist of CoE index and CoE subindex, during writing they consist of CoE index, CoE
subindex and the data to be sent.
Reading/writing sample
For reading, a WriteReq record must be sent first. This includes the CoE index and CoE subindex. After the
WriteRsp a ReadReq has to be sent in order to retrieve the data, which are then contained in the ReadRsp.
Writing takes place in the same way, except that WriteReq includes the data, and ReadRsp serves as
acknowledgement to indicate whether writing was successful.
Fig. 23: CoE data access over PROFINET, read/write sample